Title: GNSS-based position estimation with Kalman filters

Authors: Mert Sever; Chingiz Hajiyev

Addresses: Hezarfen Aeronautics and Space Technologies Institute, National Defence University, Yeşilyurt/Istanbul, 34149, Turkey ' Faculty of Aeronautics and Astronautics, Istanbul Technical University, Maslak/Istanbul 34469, Turkey

Abstract: This paper is a devoted comparison of stationary user localisation estimations by traditional extended Kalman filter (EKF), linear Kalman filter (LKF) and NRM pre-processed LKF. In this study, Şükrü Saraçoğlu stadium's location was estimated via various types of Kalman filters. Position states due to Earth-centred inertial (ECI) reference frame were obtained by global navigation satellite system (GNSS) receiver. Pseudo-ranging model was used to determining the position of Şükrü Saraçoğlu stadium. To simulate GNSS receiver, random measurement errors were added to the actual distance between the stadium and GNSS satellite. With this study, various filters were compared for stationary user localisation estimation.

Keywords: stationary user localisation; Kalman filter; global navigation satellite system; GNSS; position estimation; extended Kalman filter; EKF; linear Kalman filter; LKF; Earth-centred inertial; ECI.

DOI: 10.1504/IJSA.2022.10047063

International Journal of Sustainable Aviation, 2022 Vol.8 No.3, pp.181 - 197

Received: 27 Nov 2021
Accepted: 09 Feb 2022

Published online: 27 Jul 2022 *

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